WO2018019895A1 - Household robot and household robot system - Google Patents

Abstract

The invention relates to a household robot comprising a drive device, an energy store, a sensor for scanning an environment of the household robot, a control device that is configured to control the drive device with energy from the energy store, based on a signal of the sensor, in order to bring about a predetermined travel movement of the household robot, and a mechanical interface that is configured to couple the functional module to the household robot by means of a form closure, such that it is secured against relative movement. In addition, the mechanical interface comprises a release device that is configured to release the form closure in relation to a spatial direction.

Description

 Household robot and home robot system

The invention relates to a household robot. In particular, the invention relates to a modular system which can be built up according to a modular system.

State of the art

A home robot is configured to automatically drive over a floor area to perform a specific robot service. This service may include, for example, the transportation of an item or the cleaning of the floor space.

Different tasks usually each require a complete household robot. EP 1 759 965 B1 proposes to arrange a plurality of functional modules, each of which can solve an associated robot task, in a device such that a household robot can automatically record one of the functional modules. However, this system is expensive and expensive. In addition, the automated change of the function module may be prone to failure.

The invention has for its object to provide a simplified technique by means of which a household robot can be equipped with predetermined system components. The invention solves this problem by means of the subjects of the independent claims. Subclaims give preferred embodiments again.

Disclosure of the invention

An inventive household robot comprises a drive device; an energy store; one or more sensors for sensing or sensing the environment of the home robot; a control device configured to drive the drive device with energy from the energy store based on a signal from the sensors to effect a predetermined travel motion of the home robot; and a mechanical interface, which is set up to couple the functional module to the household robot by means of positive locking motion-immune security. In doing so, The mechanical interface includes a release device, which is set up to cancel the form fit with respect to a spatial direction. When the positive fit is canceled, the functional module can be removed from the household robot, in particular by means of a translatory movement. The translation is preferably straight. The household robot can be easily equipped with different functional modules so that it can fulfill different functions. For example, a first functional module for sucking a floor surface can be set up, while a second functional module for wet cleaning of the floor surface is set up. Without a functional module, the household robot can already provide one or more functions which can be supplemented or shared by the function module. For example, the household robot can implement the driving off of a floor surface, the finding of a predetermined object on the floor surface, the recognition of an object or an obstacle, the approaching of a predetermined position or other functions, in particular based on the movement of the household robot Depending on the application, household robots can be equipped with different functional modules, so that costs for the movement of the household robot can only be incurred once. Should the user desire an additional function of the household robot, he can procure and use a corresponding functional module. A wide variety of functional modules may be provided, which in one embodiment may be provided by different manufacturers, such that the user may have an improved selection of functional modules. In one embodiment, an interface between the household robot and the functional module is equipped so that only functional modules of a manufacturer can be combined with the household robot. This can avoid that an incompatibility between the household robot and the functional module leads to an unsatisfactory overall result.

It is preferred that the mechanical interface is further configured to couple the functional module against rotation with the household robot. In addition to the above-described translational securing of the functional module on the household robot, it can thus be ensured that the functional module is held in an unambiguous position relative to the household robot, does not fall out and the interface is not impaired by the movement of the household robot. The translational movement can be in a vertical direction so that the functional module can be separated upwards from the mechanical interface. The household robot is usually located close to the floor, so ergonomic handling can be supported by the removability of the functional module upwards. By a reverse translational movement, the functional module can be guided into the mechanical interface. The release device allows these movements only when a function module to be connected to the household robot or separated from him. Otherwise, it is preferably configured to lock the functional module positively in the mechanical interface.

In a further embodiment, a material interface for exchanging material between the functional module and the domestic robot is provided when the functional module is connected to the mechanical interface. The material may include, for example, wash water, dirty water or dust. In particular, a cleaning function of the functional module can be supported. The material may be kept by the household robot, for example, in a tank or a container. In further embodiments, a data interface for exchanging information between the functional module and the control device or an energy interface for exchanging energy between the functional module and the energy store may also be provided. It is preferred that as many interfaces as possible are closed when the mechanical interface is closed, or all interfaces are disconnected when the mechanical interface is disconnected. In the case of the material interface, a one-sided or two-sided closure of the interface can be effected during separation in order to prevent, for example, the escape of liquid or dust.

The release device may comprise a rotatable control element and an engagement element arranged radially on the control element, wherein the engagement element is configured to engage or not in a corresponding recess depending on a rotational position of the control element. The recess is usually provided on the household robot. The control element and the engagement element can be constructed in a simple and space-saving manner. In one embodiment, both parts are inexpensive to produce from plastic. A plurality of engagement elements may be provided on the control member in different radial directions to ensure an improved distribution of locking forces. The engagement elements can be designed, for example, spherical or pin-shaped. The described arrangement can be flexibly scaled to adapt the latch to the shape of a predetermined boundary between the home robot and the functional module.

It is further preferred that the control comprises a cam and the engagement element comprises a bolt. The bolt can be pressed against the cam by means of an elastic element to ensure improved release.

It is generally preferred that the release device comprises a manual actuating element. In particular, the manual actuating element can be set up at the same time for actuating the release device and for handling the functional module.

It is further preferred that the manual actuator is designed to be retractable. The retractability can be realized in the manner of a retractable rotary knob of a furnace or in the manner of an actuation of a ballpoint pen (eg with a heart backdrop). By sinking the actuating element, the surface of the household robot can be kept free of additional surveys, so that a snagging of the manual actuating element on an object in the region of the bottom surface, for example a piece of furniture under which the household robot passes, is prevented.

The household robot preferably comprises a cargo bay, in the area of which the mechanical interface is mounted. The loading bay preferably allows mechanical access of the functional module connected to the mechanical interface to a floor surface on which the household robot is located. As a result, a function module whose task is manipulation or monitoring of the floor surface can be improved. A home robotic system includes the household robot described above and at least one functional module. Preferably, a plurality of functional modules are provided which differ in their functionalities.

Brief description of the figures

The invention will now be described in more detail with reference to the attached figures, in which:

Fig. 1 is a schematic representation of a household robot;

Fig. 2 shows an embodiment of a household robot system;

 3 shows a coupling process between a household robot and a functional module;

 4 shows an embodiment of a mechanical interface between a household robot and a functional module;

FIG. 5 shows a further embodiment of the interface of FIG. 4; FIG. and

Fig. 6 illustrates a release device for the interface of Fig. 5. Detailed description of an embodiment

FIG. 1 shows a schematic representation of a household robot 100. The household robot 100 comprises a drive device 105 for moving the household robot 100 over a bottom surface 110, an energy store 15, one or more sensors 120 for scanning an environment of the household robot 100, a control device 125 and preferably a chassis 130 for receiving the components of the home robot 100. The control device 125 preferably comprises a programmable microcomputer or microcontroller and is configured to control a movement of the household robot 100 over the bottom surface 110. For this purpose, the control device 125 can in particular receive and process sensor signals of one of the sensors 120 and, in dependence thereof, supply the drive device 105 with energy from the energy store 15. The energy store 15 can in particular be a rechargeable energy store, for example in the form of a battery pack. It is preferred that the household robot 100 further comprises a cargo bay 135 for receiving a functional module 140. In order to mechanically couple the functional module 140 to the domestic robot 100, a mechanical interface 145 is provided. In addition, a release device 150 is provided so that the functional module 140 is preferably held against displacement and rotation on the household robot 100, in particular in the loading bay 135, as long as the release device 150 is not actuated. After actuation of the release device 150, the functional module 140, in particular by a predetermined movement, be separated from the household robot 100. It is further preferred that an energy interface 155, a data interface 160 or a material interface 165 between the household robot 100 and the function module 140 is provided. It is further preferred that the interfaces 155 to 165 are coupled to the mechanical interface 145 in such a way that an as automatic as possible connection or disconnection takes place when the mechanical interface 145 is connected or disconnected. In particular, the material interface 165 can lead to a container 170 of the household robot 100, which holds, for example, water or cleaning agent.

The household robot 100 may have further elements, in particular a wireless interface for connection to a data network. In addition, for example, a lighting device or an actuator may be provided, such as a camera or a gripper, in order to realize a basic function of the household robot 100 that is independent of the functional module 140. Function module 140 may interact with household robot 100 via interfaces 145, 155, 160, or 165 to accomplish a predetermined task. For example, the function module 140 can transmit via the data interface 160 the request to approach a predetermined position or to perform a predetermined driving maneuver. Control in the reverse direction is also possible, for example by the control device 125 sending a signal to the function module 140 via the data interface 160, which relates to a request for performing a predetermined function. This function can, for example, relate to the production of an image by a camera, the switching on or off of a cleaning motor or virtually any other function of the functional module 140. FIG. 2 shows an exemplary embodiment of a home based robotic system 200 based on the home robot 100 of FIG. 1 and at least one functional module 140. The home robot 100 may be equipped with one of the functional modules 140 to form the home robot 100 'having the function of the selected one Function module 140 is expanded. The function of the functional module 140 can be extended, in particular, by the mobility of the household robot 100, so that new applications can be covered or known applications can be addressed in an improved manner. It is particularly preferred that the functional module 140 has a predetermined shape that complements the domestic robot 100 in a predetermined manner. The household robot 100 'preferably has a closed surface, that is to say the least possible rugged surface, in order to minimize the risk of it getting stuck on one object or pinching another object. In addition, it is preferred that the household robot 100 'is as flat as possible and has a flat top as possible to allow movement of the household robot 100 under a piece of furniture.

FIG. 3 shows a coupling process between the domestic robot 100 and a functional module 140. In the upper area, the functional module 140 and the domestic robot 100 are shown separately; in the lower area of FIG. 3, both elements are combined to form the household robot 100 '.

The mechanical interface 145 is preferably implemented in interaction with the household robot 100 with the function module 140. If the mechanical interface 145 is completely established, it preferably couples the functional module 140 in all three spatial directions of a Cartesian coordinate system with the domestic robot 100 with regard to translational, and more preferably also with respect to rotational movements. The release device 150 is configured, if necessary, to cancel the coupling with respect to a translation between the functional module 140 and the domestic robot 100 along a predetermined spatial axis. This spatial axis preferably runs in a vertical direction. This direction is preferably perpendicular to the bottom surface 1 10 or closes with this a preferred acute angle.

FIG. 4 shows an embodiment of the mechanical interface 145 between the domestic robot 100 and the functional module 140. tion module 140 shown as an empty box, functional components of the function module 140 are not visible. The cargo bay 135 of the domestic robot 100 corresponds here in shape to the outer shape of the functional module 140. The cargo bay 135 is substantially box-shaped, so that the functional module 140, when it is lowered from the position shown down into the loading bay 135, in two horizontal Richtun - Is held positively. In the illustrated embodiment, optional vertical webs 405 are additionally provided on the functional module 140, to which vertical grooves 410 in the region of the loading bay 135 of the household robot 100 correspond. The combination of the lands 405 with the grooves 410 may uniquely determine a predetermined orientation of the functional module 140 with respect to the home robot 100.

FIG. 5 shows a further embodiment of the mechanical interface 145 of FIG. 4. Here, the functional module 140 carries a cover 505, in which the release device 150 is integrated. The household robot 100 is not shown. The release device 150 comprises a manual actuator 510, which is designed here as a rotary knob. The rotary knob is rotatable about a vertical axis and, depending on its rotational position, one or more engaging elements 515 are moved in a direction substantially perpendicular to the direction in which the functional module 140 can be approximated to the domestic robot 100 to control the Close interface 145. The actuating element 510 can in particular be designed to be retractable. For this purpose, the actuating element 510, in particular against the force of an elastic element, can be pressed into the functional module 140. A mechanism known from a ballpoint pen can hold the actuator 510 in this position until it is pushed in again.

FIG. 6 shows the release device 150 for the interface 145 in the embodiment of FIG. 5. The cover 505 of the functional module 140 is shown in a position reversed relative to the illustration of FIG. 5, the release device 150 being locked in the upper region of FIG opened or operated in the lower area.

The release device 150 comprises a cam 605 as a control element, wherein the cam 605 is rotatably mounted about an axis of rotation 610. The rotation can be controlled in particular by means of the actuating element 510 of FIG. In the 1, a spline 615 is provided on the cam 605 in a radial portion of the rotation axis 610, which is guided in a slot 620 of a cover 625 in order to limit the angle of rotation of the cam 605 to a predetermined range. The cover 625 is located with respect to the cam 605 on the opposite side of the lid 505 and is fixed thereto.

In the illustrated embodiment, four engagement elements 515 are provided which each enclose an angle of approximately 90 ° with each other. An engagement member 515 is preferably received in a guide 630 fixed to the cover 505. An elastic member 635 presses the engagement member 515 radially inwardly against the cam disk 605. A radial position of the engagement member 515 is thus dependent on the shape of the cam 605 and its rotational position about the rotation axis 610. The embodiment shown may be made entirely of plastic, in one embodiment only the elastic element 635 is made of a metal. It should be noted that the release device 150 is embodied here on the functional module 140, but in another embodiment can also be embodied conversely on the domestic robot 100. In this case, in particular, the engagement element 15 can be attached to the household robot 100 and configured to intervene in order to lock the functional module 140 into a recess provided on the functional module 140.

reference numeral

100 household robots

105 drive device

1 10 floor space

 115 energy storage

 120 sensor

 125 control device

130 chassis

 135 cargo bay

 140 function module

 145 mechanical interface

150 release device

155 energy interface

160 data interface

165 Material interface

170 containers

200 home robot system

405 footbridge

 410 groove

505 cover

 510 actuator

515 engagement element

605 cam

 610 rotation axis

 615 sapwood

 620 slot

 625 cover

630 leadership elastic element

Claims

Household robot (100), wherein the household robot (100) comprises:  - a drive device (105);  - An energy store (1 15);  - A sensor (120) for scanning an environment of the household robot (100); - A control device (125) which is adapted to the drive means (105) on the basis of a signal of the sensor (120) with energy from the energy store (1 15) to control to cause a predetermined driving movement of the domestic robot (100); and  - A mechanical interface (145) which is adapted to couple a functional module (140) by means of positive locking relatively movement safe with the household robot (100);  - wherein the mechanical interface (145) comprises a release device (150) which is adapted to cancel the positive connection with respect to a spatial direction. Household robot (100) according to claim 1, wherein the mechanical interface (145) is further adapted to the function module (140) against rotation with the household robot (100) to couple. The domestic robot (100) of claim 1 or 2, wherein a movement for inserting and removing the functional module (140) is in a vertical direction so that the functional module (140) can be separated upwardly from the mechanical interface (145). The domestic robot (100) of any one of the preceding claims, further comprising a material interface (165) for exchanging material between the functional module (140) and the domestic robot (100) when the functional module (140) is connected to the mechanical interface (145). The domestic robot (100) according to one of the preceding claims, wherein the release device (150) comprises a rotatable control element (605) and an engagement element (515) arranged radially on the control element (605), wherein the engagement element (515) is adapted to a function of Rotary position of the control (605) engage in a corresponding recess or not. The household robot (100) of claim 5, wherein the control member comprises a cam (605) and the engagement member comprises a bolt (515). The household robot (100) of any one of the preceding claims, wherein the release device (150) comprises a manual actuator (510). The household robot (100) of claim 7, wherein the manual actuator (510) is retractable. Household robot (100) according to one of the preceding claims, further comprising a loading bay (135), in the area of which the mechanical interface (145) is mounted, wherein the loading bay (135) provides mechanical access of the functional module (145) connected to the mechanical interface (145). 140) to a bottom surface (1 10) allowed. A home robotic system (200) comprising a household robot (100) according to any one of the preceding claims and at least one functional module (140).